CN110502966B - Classified information acquisition equipment, method and storage device for packages - Google Patents
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Abstract
The invention provides a classified information acquisition device, a classified information acquisition method and a classified information storage device for packages, wherein the classified information acquisition device comprises a weighing device, an industrial camera, a depth camera and a processor, and the processor executes a computer program to realize the following classified information acquisition method: the method comprises the steps of acquiring weight information of a package through a weighing device, and respectively acquiring a section image and a depth image through an industrial camera and a depth camera; judging whether the package is out of bounds or not according to the section image, if so, stopping obtaining the classification information, and if not, obtaining a first contour of a first package surface; acquiring the average height of the first wrapping surface and eliminating shadows in the first contour according to the depth image, and acquiring the contour of the first wrapping surface and the area of the first wrapping surface: and acquiring volume information of the package, and outputting the acquired classification information to classify the package according to the classification information. The method and the device can quickly acquire the volume information and the weight information of the package, improve the classification efficiency, and reduce the error rate, thereby improving the processing efficiency of the package.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to equipment, a method and a storage device for acquiring classified information of packages.
Background
With the development of technology, the living standard of people is continuously improved, and the consumption of substances needed by people is also increased. In order to provide various consumer substances required by users, packages containing various consumer substances are born from consumer substance supply ends of electronic commerce, factories and the like and sent to corresponding consumer clients through logistics express.
However, these packages are created, shipped, and delivered in order to be able to successfully reach the corresponding consumer client. Sorting of these packages is also required. The speed of package classification becomes a key to good or bad quality of service.
The current package classification mainly comprises the steps that classification personnel respectively acquire classification information of packages by using weighing devices and volume measuring devices which are arranged at different positions, and the packages are classified according to the classification information. However, under the circumstance that the quantity of the packages is large and the classification task is difficult nowadays, the problems of low classification efficiency, difficult work and high error rate are easily generated in the mode, and the high-speed and high-efficiency classification processing of the packages is hindered. In addition, the original manual classification and the weighing device, the volume measuring device and other devices for acquiring classification information occupy larger space, have low field space utilization rate and improve the production cost.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the classified information acquisition equipment, the classified information acquisition method and the storage device for the packages, which can rapidly acquire the volume information and the weight information of the packages, improve the classified efficiency, reduce the error rate, further improve the processing efficiency of the packages, and put the weighing and the volume measurement of the packages together for processing, thereby reducing the occupied space and the production cost.
In order to solve the problems, the invention adopts a technical scheme that: a classification information acquisition device for packages, wherein the packages comprise any one of prismatic packages and rectangular packages, the classification information comprises weight information and volume information, the device comprises a weighing device, an industrial camera, a depth camera and a processor, the weighing device is arranged on a detection platform of the device, the industrial camera and the depth camera are arranged at the same position and are opposite to the detection platform, the processor is respectively connected with the weighing device, the industrial camera and the depth camera, the processor can execute a computer program, and the computer program realizes the following classification information acquisition method when being executed: acquiring weight information of the package through a weighing device, acquiring a cross-sectional image of a first package surface of the package far away from the detection platform through an industrial camera, and acquiring a depth image of the package through the depth camera; judging whether the package is out of bounds or not according to the section image, if so, stopping obtaining the classification information, and if not, obtaining a first contour of the first package surface; acquiring the average height of the first wrapping surface relative to the detection platform according to the depth image, eliminating shadows in the first contour according to the depth image, and acquiring the contour of the first wrapping surface and the area of the first wrapping surface: and acquiring volume information of the package according to the area and the average height, and outputting the acquired classification information so as to classify the package according to the classification information.
Further, the step of obtaining the weight information of the package through the weighing device, obtaining the cross-sectional image of the first package surface of the package far away from the detection platform through the industrial camera, and obtaining the depth image of the package through the depth camera further comprises the following steps: judging whether the weight born by the weighing device is increased or not; if yes, determining that the package is placed on the detection platform, acquiring weight information of the package through a weighing device, acquiring a cross-sectional image of a first package surface of the package far away from the detection platform through an industrial camera, and acquiring a depth image of the package through the depth camera; if not, determining that the package is not placed on the detection platform, and not obtaining the classified information.
Further, the package is arranged between the detection platform and the industrial camera and the depth camera, and images of the detection platform are shot through the industrial camera and the depth camera so as to acquire the section images and the depth images.
Further, the device further comprises an illumination system, and before the step of acquiring the cross-sectional image of the first package surface of the package far from the detection platform and the depth image of the package by the industrial camera and the depth camera, the device further comprises: and controlling the lighting system to be started, and providing light for the detection platform so that the brightness of the area where the package is located is larger than a preset value.
Further, the step of obtaining the average height of the first wrapping surface relative to the platform according to the depth image specifically includes: acquiring the height of each point of the first wrapping surface relative to the detection platform according to the depth image; and acquiring the average height of the first wrapping surface relative to the detection platform according to the height.
Further, the step of judging whether the package is out of bounds according to the section image, if yes, stopping obtaining the classification information, and if not, obtaining the first contour of the first package surface specifically includes: binarizing the first parcel surface image to distinguish the detection platform from the first parcel surface; judging whether the first wrapping surface contacts the boundary of the section image; if yes, determining that the package is out of bounds, and ending obtaining the classification information; if not, acquiring a first contour of the first wrapping surface according to the section image.
Further, the step of eliminating shadows in the first contour according to the depth image to obtain the contour of the first wrapping surface and the area of the first wrapping surface specifically includes: acquiring a first distance from the first wrapping surface to a lens of an industrial camera according to the depth image; acquiring a deviation distance between a center point of the cross-sectional image and a center point of the first contour; acquiring the shadow width of the package in the first profile according to the first distance, the deviation distance and the average height; and eliminating shadows in the first contour according to the shadow width to obtain the contour of the first wrapping surface, and obtaining the area of the first wrapping surface through the contour.
Further, the classification information further comprises bar code information, the processor obtains coordinates of the outline of the first wrapping surface in the section image, the coordinate range of the outline is determined, and the industrial camera is controlled to scan the section image in the coordinate range to obtain the bar code information.
The invention also provides a method for acquiring classified information of the package, wherein the package comprises any one of a prismatic package and a rectangular package, the classified information comprises weight information and volume information, and the method for acquiring the classified information comprises the following steps:
acquiring weight information of the package through a weighing device, acquiring a cross-sectional image of a first package surface of the package far away from a detection platform through an industrial camera, and acquiring a depth image of the package through a depth camera; judging whether the package is out of bounds or not according to the section image, if so, stopping obtaining the classification information, and if not, obtaining a first contour of the first package surface; acquiring the average height of the first wrapping surface relative to the detection platform according to the depth image, eliminating shadows in the first contour according to the depth image, and acquiring the contour of the first wrapping surface and the area of the first wrapping surface: and acquiring volume information of the package according to the area and the average height, and outputting the acquired classification information so as to classify the package according to the classification information.
The present invention also proposes a storage device having a storage function, the storage device storing program data which, when executed, implements the package classification information acquisition method as described above.
Compared with the prior art, the invention has the beneficial effects that: can be when obtaining the weight information of parcel, keep away from the cross-section image and the depth image of the first parcel face of detecting platform through the parcel and acquire the volume information of parcel to acquire the categorised information of quick acquisition parcel, improved categorised efficiency, reduced the error rate, thereby improved the processing efficiency of parcel, and put together the weighing and the volume measurement of parcel and handle, reduced occupation space and manufacturing cost.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a device for acquiring classification information of packages according to the present invention;
FIG. 2 is a flow chart of an embodiment of a method for acquiring classification information in a classification information acquiring apparatus for packages according to the present invention;
FIG. 3 is a flowchart of another embodiment of a method for acquiring classification information in a classification information acquiring apparatus for packages according to the present invention;
FIG. 4 is a block diagram of an embodiment of a method for acquiring classification information of packages according to the present invention;
fig. 5 is a block diagram of a memory device with a memory function according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.
Referring to fig. 1, 2 and 3, wherein fig. 1 is a schematic structural diagram of an embodiment of a classification information obtaining apparatus for packages according to the present invention; FIG. 2 is a flow chart of an embodiment of a method for acquiring classification information in a classification information acquiring apparatus for packages according to the present invention; fig. 3 is a flowchart of another embodiment of a method for acquiring classification information in a device for acquiring classification information of packages according to the present invention. The sorting information acquiring apparatus of the package of the present invention will be described in detail with reference to fig. 1, 2, and 3.
In this embodiment, the package includes any one of a prismatic package and a rectangular package, the classification information includes weight information and volume information, the device includes a weighing device, an industrial camera, a depth camera, and a processor, the weighing device is disposed on a detection platform of the device, the industrial camera and the depth camera are disposed at the same position and opposite to the detection platform, the processor is respectively connected with the weighing device, the industrial camera, and the depth camera, the processor can execute a computer program, and the computer program when executed implements the following classification information acquisition method.
In this embodiment, the number of processors in the device may be one or more, and one processor is exemplified in fig. 1. The amount of memory in the device may be one or more, one memory being exemplified in fig. 1. The processor and memory of the device are connected by a bus or other means. In an embodiment, the device may be a computer, a mobile phone, a tablet, a projector, or an interactive smart tablet, etc.
For example, a computer program may be split into one or more modules/units, which are stored in a memory and executed by a processor to perform the present invention. One or more of the modules/units may be a series of computer program instruction segments capable of performing specific functions to describe the execution of the computer program in the device.
Devices may include, but are not limited to, processors, memory. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of a device and does not constitute a limitation of the device, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., a device may also include an input-output device, a network access device, a bus, etc.
The memory may be used to store computer programs and/or modules, and the processor implements various functions of the device by running or executing the computer programs and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high speed random access memory, but may also include non-volatile memory, such as ROM, or other volatile solid state memory devices, such as RAM.
In this embodiment, the classification information acquisition method executed by the processor includes the steps of:
s101: the method comprises the steps of acquiring weight information of a package through a weighing device, acquiring a cross-sectional image of a first package surface of the package far away from a detection platform through an industrial camera, and acquiring a depth image of the package through a depth camera.
In this embodiment, after the package is determined to be placed on the detection platform, the weight of the package is detected by the weighing device, and the cross-sectional image of the first package surface on one side of the package far from the detection platform and the depth image of the package are detected by the industrial camera and the depth camera respectively.
In this embodiment, whether the package is placed on the detection platform is determined by whether the weight borne by the weighing device is increased, and the processor does not acquire the classification information when it is determined that the weight borne by the weighing device is not increased. The processor takes the information of the weight increase born by the weighing device as a trigger signal for controlling the weighing device to weigh and take pictures through the industrial camera and the depth camera.
In this embodiment, in order to prevent false triggering, the industrial camera and the depth camera may be controlled to take a photograph only once during a period between when the weight borne by the scale starts to increase from zero to become zero again.
In other embodiments, the weight of the package may be detected by controlling the weighing device when the weight borne by the weighing device exceeds a preset weight value, where the preset weight value may be set by itself, and details thereof will not be described herein.
In this embodiment, the weighing device is a stable self-output electronic scale supporting various measuring ranges, and the electronic scale is connected to a display, and the display displays the weight of the detected package.
In this embodiment, the package is a rectangular package and a package with an appearance close to that of a rectangle, and in other embodiments, the package may be a cylindrical, triangular prism or other prismatic package, and only the bottom surface of the prismatic package needs to be in contact with the detection platform, which is not limited herein.
In this embodiment, the industrial camera and the depth camera are disposed on a side of the package away from the inspection platform, opposite the inspection platform, and the processor further captures images of the package located on the inspection platform through the industrial camera and the depth camera when detecting the weight of the package through the weighing device.
In a preferred embodiment, the lenses of the industrial camera and the depth camera are vertically opposite the detection platform. The package is located in a photographing region vertically opposite to the lens.
In other embodiments, the depth camera may not be disposed on the same side as the industrial camera, but may be disposed on a side of the package perpendicular to the detection plane, and only the height of one side of the package far from the detection platform, which is opposite to the detection platform, and the first distance from the first package surface to the lens of the industrial camera need to be acquired through the image captured by the depth camera, which is not limited herein.
In this embodiment, the number of depth cameras is 1, and industrial cameras are industrial area array cameras and infrared industrial area array cameras. In other embodiments, the number of depth cameras may be 2 or other, and the industrial camera may be other area array cameras capable of capturing cross-sectional images of the package parallel to the first package face of the detection platform, without limitation.
In this embodiment, in order to reduce the difficulty of manual operation and improve the processing efficiency, the bar code for scanning the code is disposed on the first side of the package away from the detection platform.
In order to improve the definition of the acquired images when acquiring the sectional image and the depth image of the package, the apparatus for acquiring the classification information further includes an illumination system disposed on the same side of the package as the industrial camera. When photographing the package, the processor firstly controls the lighting system to be started, and provides light for the area where the package is located on the detection platform through the lighting system, so that the brightness of the area is larger than a preset value. The lighting system and the industrial camera are disposed on the same side of the package, and the value of the preset value can be determined according to shooting requirements of the industrial camera and the depth camera, which is not described herein.
In this embodiment, the lighting system is a low-power consumption or infrared lamp, and the number is four. In other embodiments, the lighting system may be an LED lamp or other lamps, and the number of lamps is not limited to four, so long as the brightness of the area where the package is located can reach the shooting requirement through the lighting system, which is not limited herein.
S102: and judging whether the package is out of bounds or not according to the sectional image, if so, executing S103, and if not, executing S104.
In this embodiment, before the profile of the first wrapping surface is obtained, it is further required to determine whether the package is out of bounds, that is, whether the first wrapping surface of the package is entirely located in the cross-sectional image.
The method comprises the following specific steps: and carrying out binarization processing on the section image shot by the industrial camera to obtain a gray level image of the section image, displaying a first wrapping surface of the package and the detection platform in different gray level values, thereby obtaining a first wrapping surface contour of the package, judging whether the first contour of the first wrapping surface is contacted with the edge of the section image or not according to the gray level image, and judging whether the package is out of bounds or not.
S103: and stopping obtaining the classification information.
If the edge of the first wrapping surface is contacted with the edge of the section image, determining the edge of a first contour contact lens area of the first wrapping surface of the package, namely that the first wrapping surface is not wholly positioned in the section image, outputting the direction of the package out-of-bounds, and stopping detection.
S104: a first contour of the first wrapping surface is obtained.
If the edge of the first wrapping surface is in contact with the edge of the section image, determining the edge of a first contour contact lens area of the wrapped first wrapping surface, namely that the whole first wrapping surface is positioned in the section image, and acquiring the contour area of the first wrapping surface according to the binarized section image, wherein the wrapping is not out of limit.
S105: and acquiring the average height of the first wrapping surface relative to the detection platform according to the depth image, eliminating shadows in the first contour according to the depth image, and acquiring the contour of the first wrapping surface and the area of the first wrapping surface.
And acquiring the relative height of each point on a first wrapping surface of the package far away from the detection platform relative to the detection platform through the depth image, and acquiring the average height of the first wrapping surface according to the relative height.
In this embodiment, the plane height is an average height obtained by dividing the sum of the relative heights of each pixel point on the first wrapping surface by the total number of the pixel points of the first wrapping surface.
When an image of a package is shot by an industrial camera, due to light and the depth of field of the lens, shadows exist in the image of a part of the package outside the depth of field of the lens, namely, shadows exist in a first contour of a first package surface obtained according to the image of the first package surface, and the shadows in the image need to be removed in order to obtain the accurate contour of the first package surface of the package.
In a preferred embodiment, two or more industrial cameras are used for shooting sectional images of a first wrapping surface of a package from different angles, shading of the first wrapping surface in the sectional images is eliminated according to the sectional images, a first contour of the first wrapping surface is corrected, and the area of the corrected contour of the first wrapping surface is obtained.
In another preferred embodiment, when the industrial camera has only one, the distance from the first wrapping surface of the package, which is far away from the detection platform, to the lens of the depth camera and the side length of the first contour of the first wrapping surface are acquired through the depth image, and then the first distance from the first wrapping surface to the lens of the industrial camera, which is arranged together with the depth camera, are acquired through the section image shot by the industrial camera. And respectively acquiring the distance between the center point of the shot sectional image and the center point of the first contour of the first wrapping surface, and taking the distance as the deviation distance between the center point of the sectional image and the center point of the first contour. And acquiring the distance from the center point of the cross-sectional image to the edge of the first contour according to the deviation distance. Since the triangle formed by the first distance from the industrial camera lens to the center point of the cross-sectional image and the distance from the center point of the cross-sectional image to the edge of the first contour is similar to the triangle formed by the shadows, the width of the shadows formed on each side of the parcel can be obtained by the distance from the industrial camera lens to the center point of the image and the deviation distance, after the shadows contained in the first contour of the first parcel surface are eliminated according to the width of the shadows to obtain the contour of the first parcel surface, the area of the first parcel surface is obtained according to the contour, and the product of the area and the average height is used as the volume information of the parcel.
In other embodiments, the classification information further includes barcode information, where the barcode information is disposed on the first package surface, so that in order to increase the acquisition speed when the barcode information is acquired by performing a barcode scanning operation by using an industrial camera, an effective area needs to be cut out from the acquired sectional image, and only the effective area is scanned, so that the area to be scanned is reduced. When the code scanning is carried out by the industrial camera, the coordinates of the outline of the first wrapping surface in the cross-section image are firstly obtained, and the code scanning operation is carried out on the image of the first wrapping surface in the coordinate range as an effective area so as to reduce the code scanning range and accelerate the speed of obtaining the bar code information.
S106: and acquiring volume information of the package according to the area and the average height, and outputting the acquired classification information to classify the package according to the classification information.
In the above embodiments, the processor for controlling the operation of the scale, the lighting system, the industrial camera and the depth camera is an ARM architecture embedded circuit board. The circuit board can meet the algorithm requirements of high-definition industrial cameras and depth cameras and support multiple interfaces. The circuit board is connected with the display, and after the code scanning operation is completed, the circuit board displays the obtained weight information, volume information and bar code information on the display screen so as to enable a user to sort the packages.
In other embodiments, the weight information, the volume information, and the bar code information may be stored in a memory or transmitted to other devices that sort packages based on the received information.
The volume, bar code information and weight information of the package can be obtained within 0.4 seconds through the operation mode. The sorting efficiency is improved.
The beneficial effects are that: the invention provides a classified information acquisition device for packages, which can rapidly acquire the volume information of the packages through the section image and the depth image of the first package surface of the packages far away from a detection platform when the weight information of the packages is acquired, so that the classified information of the packages is acquired rapidly, the classified efficiency is improved, the error rate is reduced, the processing efficiency of the packages is improved, and the weighing and the volume measurement of the packages are processed together, so that the occupied space and the production cost are reduced.
Based on the same inventive concept, the present invention further provides a method for acquiring the classification information of the package, refer to fig. 4, and fig. 4 is a flow chart of an embodiment of the method for acquiring the classification information of the package according to the present invention.
The method for acquiring the classified information of the package comprises the following steps:
s201: the method comprises the steps of acquiring weight information of a package through a weighing device, acquiring a cross-sectional image of a first package surface of the package far away from a detection platform through an industrial camera, and acquiring a depth image of the package through a depth camera.
S202: and judging whether the package is out of bounds or not according to the section images, if so, executing S203, and if not, executing S204.
S203: and stopping obtaining the classification information.
S204: a first contour of the first wrapping surface is obtained.
S205: and acquiring the average height of the first wrapping surface relative to the detection platform according to the depth image, eliminating shadows in the first contour according to the depth image, and acquiring the contour of the first wrapping surface and the area of the first wrapping surface.
S206: and acquiring volume information of the package according to the area and the average height, and outputting the acquired classification information to classify the package according to the classification information.
The execution flow and the used equipment of the classification information acquisition method are the same as those of the above embodiment, and are not described in detail herein.
Based on the same inventive concept, the present invention further provides a storage device with a storage function, and referring to fig. 5, fig. 5 is a schematic structural diagram of an embodiment of the storage device with a storage function in the present application, where the storage device stores program data, and the stored program data is used to implement a method for acquiring classification information of packages as described above when executed, which is not described in detail herein.
The device with the storage function may be a portable storage medium such as a usb disk, an optical disc, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or other various media capable of storing program codes, or may be a terminal, a server, or the like.
In the several embodiments provided in the present invention, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.
The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention are intended to be within the scope of the present invention as claimed.
Claims (9)
1. A classification information acquisition device for packages, characterized in that the packages comprise any one of prismatic packages and rectangular packages, the classification information comprises weight information and volume information, the device comprises a weighing device, an industrial camera, a depth camera and a processor, the weighing device is arranged on a detection platform of the device, the industrial camera and the depth camera are arranged at the same position and are opposite to the detection platform, the processor is respectively connected with the weighing device, the industrial camera and the depth camera, the processor can execute a computer program, and the computer program is executed to realize the following classification information acquisition method:
acquiring weight information of the package through a weighing device, acquiring a cross-sectional image of a first package surface of the package far away from the detection platform through an industrial camera, and acquiring a depth image of the package through the depth camera;
judging whether the package is out of bounds or not according to the section image, if so, stopping obtaining the classification information, and if not, obtaining a first contour of the first package surface;
acquiring the average height of the first wrapping surface relative to the detection platform according to the depth image, eliminating shadows in the first contour according to the depth image, and acquiring the contour of the first wrapping surface and the area of the first wrapping surface:
acquiring volume information of the package according to the area and the average height, and outputting the acquired classification information to classify the package according to the classification information;
the step of eliminating shadows in the first contour according to the depth image and obtaining the contour of the first wrapping surface and the area of the first wrapping surface specifically includes:
acquiring a first distance from the first wrapping surface to a lens of an industrial camera according to the depth image;
acquiring a deviation distance between a center point of the cross-sectional image and a center point of the first contour;
acquiring the shadow width of the package in the first profile according to the first distance, the deviation distance and the average height;
and eliminating shadows in the first contour according to the shadow width to obtain the contour of the first wrapping surface, and obtaining the area of the first wrapping surface through the contour.
2. The apparatus for acquiring sorting information of a package according to claim 1, wherein the step of acquiring weight information of the package by a weighing machine, acquiring a cross-sectional image of a first package face of the package far from the inspection platform by an industrial camera, and acquiring a depth image of the package by the depth camera further comprises, before:
judging whether the weight born by the weighing device is increased or not;
if yes, determining that the package is placed on the detection platform, acquiring weight information of the package through a weighing device, acquiring a cross-sectional image of a first package surface of the package far away from the detection platform through an industrial camera, and acquiring a depth image of the package through the depth camera;
if not, determining that the package is not placed on the detection platform, and not obtaining the classified information.
3. The apparatus for acquiring classification information of a package according to claim 2, wherein the package is disposed between the inspection platform and the industrial camera, the depth camera, and images of the inspection platform are taken by the industrial camera and the depth camera to acquire the cross-sectional image and the depth image.
4. The apparatus for acquiring classification information of a package according to claim 1, further comprising an illumination system, wherein the steps of acquiring a cross-sectional image of a first package face of the package away from the inspection platform and a depth image of the package by an industrial camera and a depth camera, respectively, further comprises:
and controlling the lighting system to be started, and providing light for the detection platform so that the brightness of the area where the package is located is larger than a preset value.
5. The apparatus for acquiring package classification information according to claim 1, wherein the step of acquiring the average height of the first package face with respect to the platform according to the depth image specifically includes:
acquiring the height of each point of the first wrapping surface relative to the detection platform according to the depth image;
and acquiring the average height of the first wrapping surface relative to the detection platform according to the height.
6. The apparatus for acquiring classification information of a package according to claim 1, wherein the step of determining whether the package is out of bounds according to the cross-sectional image, if so, stopping acquiring classification information, and if not, acquiring the first profile of the first package face specifically includes:
binarizing the first parcel surface image to distinguish the detection platform from the first parcel surface;
judging whether the first wrapping surface contacts the boundary of the section image;
if yes, determining that the package is out of bounds, and ending obtaining the classification information;
if not, acquiring a first contour of the first wrapping surface according to the section image.
7. The package sortation information obtaining apparatus of claim 1, wherein said sortation information further comprises bar code information, said processor obtaining coordinates of a profile of said first package face in said cross-sectional image, determining a coordinate range of said profile, controlling said industrial camera to scan a cross-sectional image within said coordinate range to obtain said bar code information.
8. A method for acquiring classified information of a package, wherein the package comprises any one of a prismatic package and a rectangular package, the classified information comprises weight information and volume information, and the classified information acquisition method comprises:
acquiring weight information of the package through a weighing device, acquiring a cross-sectional image of a first package surface of the package far away from a detection platform through an industrial camera, and acquiring a depth image of the package through a depth camera;
judging whether the package is out of bounds or not according to the section image, if so, stopping obtaining the classification information, and if not, obtaining a first contour of the first package surface;
acquiring the average height of the first wrapping surface relative to the detection platform according to the depth image, eliminating shadows in the first contour according to the depth image, and acquiring the contour of the first wrapping surface and the area of the first wrapping surface:
acquiring volume information of the package according to the area and the average height, and outputting the acquired classification information to classify the package according to the classification information;
the step of eliminating shadows in the first contour according to the depth image and obtaining the contour of the first wrapping surface and the area of the first wrapping surface specifically includes:
acquiring a first distance from the first wrapping surface to a lens of an industrial camera according to the depth image;
acquiring a deviation distance between a center point of the cross-sectional image and a center point of the first contour;
acquiring the shadow width of the package in the first profile according to the first distance, the deviation distance and the average height;
and eliminating shadows in the first contour according to the shadow width to obtain the contour of the first wrapping surface, and obtaining the area of the first wrapping surface through the contour.
9. A storage device having a storage function, wherein the storage device stores program data that, when executed, implements the package sort information acquisition method of claim 8.
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| CN112991423B (en) * | 2021-03-15 | 2024-06-11 | 上海东普信息科技有限公司 | Sorting method, device, equipment and storage medium for logistics package |
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